Determining implantation configuration for a prosthetic component or application of a resurfacing tool

ABSTRACT

Systems and methods for modifying a shoulder joint configuration exhibiting wear that take into account resultant of forces responsible for the wear of the glenoid surface from geometric characteristics of wear.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.14/885,363, filed Oct. 16, 2015, which is a continuation of U.S. patentapplication Ser. No. 12/954,420, filed Nov. 24, 2010, which claimspriority to U.S. Provisional Application No. 61/264,027, filed Nov. 24,2009 and French Application No. FR 10 50541, filed Jan. 27, 2010, bothof which are incorporated herein by reference in their entireties.

TECHNICAL FIELD

The present invention relates to a device and a method for determiningan implantation configuration in a patient for a glenoid component of ashoulder prosthesis. It also relates to a device and a method fordetermining a configuration for application of a glenoid resurfacingtool.

BACKGROUND

Replacing the glenoid articular surface of the scapula of a human beingwith a glenoid component of a shoulder prosthesis is a delicate surgicaloperation, notably because of the muscular environment of the shoulder.It is found that, depending on the position of implantation of such aglenoid component, risks of separation of the component exist because ofthe forces applied to this component in subsequent movements of theprosthesized shoulder.

In particular, in certain patients, it was found that, even if theimplantation on their scapula of such a glenoid component was perfectlycentered on the articular head of the corresponding humerus oncompletion of the surgical implantation operation, the resumption oftheir activities led, more or less rapidly, to an instability of theprosthesis.

To circumvent this issue, US-A-2009/0226068 proposes manufacturing a“custom” glenoid component, the articular surface of which is conformed,in its design, by taking into account the wear observed on the socket tobe prosthesized of a patient. Such an approach does, however, provecostly since it means customizing the glenoid component for each patientto be treated. Similar considerations are found for the glenoidresurfacing operations on the scapula.

SUMMARY

Some embodiments relate to methods for modifying a shoulder jointexhibiting wear on a glenoid surface, including methods and devices foroptimizing either the implantation configuration of a glenoid component,or the configuration of a glenoid resurfacing tool, by taking intoaccount the forces of muscular origin linked to a regular articularactivity on the articulation of the prosthesized or resurfaced shoulderof a patient.

Some embodiments relate to methods including defining a spatialcoordinate system of the scapula, providing mapping data relating to theglenoid surface of the scapula, the mapping data being defined in thespatial coordinate system, determining geometric characteristics of wearof the glenoid surface from then mapping data, determining the vectorcharacteristics of a resultant of forces responsible for wear of theglenoid surface from the geometric characteristics of wear, andperforming a desired modification of the shoulder joint using the vectorcharacteristics of the resultant of forces to take into account anaction of the resultant of forces on the articular cooperation betweenthe scapula and a humerus of the patient.

Some embodiments relate to a systems including mapping means forproviding mapping data relating to a glenoid surface of a scapula of apatient, the mapping data being defined in a spatial coordinate systemof the scapula and first determination means for determining geometriccharacteristics of wear of the glenoid surface from the mapping datasupplied by the mapping means. The systems also include seconddetermination means for determining the vector characteristics of aresultant of forces responsible for the wear of the glenoid surface fromgeometric characteristics of wear supplied by the first determinationmeans and third determination means for determining a modified shoulderjoint configuration from the vector characteristics of the resultant offorces supplied by the second determination means by taking into accountthe action of the resultant of forces responsible for the wear of theglenoid surface on the articular cooperation between the scapula and thehumerus of the patient.

Some embodiments relate to a device for determining a configuration inwhich either a glenoid component of a shoulder prosthesis is to beimplanted on the scapula of a patient, or a glenoid resurfacing tool isto be applied to the scapula of a patient.

Other embodiments relate to a method for determining a configuration inwhich either a glenoid component of a shoulder prosthesis is to beimplanted on the scapula of a patient, or a glenoid resurfacing tool isto be applied to the scapula of a patient. The method includesdetermining the positioning of a pre-existing glenoid component when thearticulation of the shoulder of a patient is considered to be subject toforces of muscular origin linked to a regular activity of the patient,typically an articular activity that the patient repeats several times aday. In some embodiments, the method exploits data relating to theobserved wear of the glenoid surface of the patient. In someembodiments, the method determines an implantation configuration for theglenoid prosthetic component by considering the positional influence ofthis resultant of forces on the articular cooperation between thescapula and the humerus of the patient.

In some embodiments, the method can be applied to a glenoid component ofa total shoulder prosthesis, where the head of the humerus of thepatient is to be prosthesized with a humeral component of the shoulderprosthesis. In other embodiments, the method can be applied to a glenoidprosthetic component intended to be articulated directly on the naturalarticular head of the humerus of the patient. The method can be usedwith glenoid components whose articular face is concave or glenoidcomponents with a convex articular face.

In some embodiments, the method and device can be used for positioningof a milling tool on the scapula for resurfacing the scapula. In someembodiments, the method is performed preoperationally using ad hoccalculation and simulation means. As for the result of this method, itcan be used subsequently, in a subsequent surgical operation aimingeffectively to implant a glenoid component or to apply a glenoidresurfacing tool.

In conjunction with the invention, there is proposed a surgical methodfor implanting in a patient a glenoid component of a shoulderprosthesis, in which:

a preferred position of implantation of the glenoid component isdetermined in accordance with the determination method as defined above,

the scapula of the patient is identified in space, with a one-to-onelink with the spatial coordinate system defined in the determinationmethod, and

the glenoid component is fitted on the scapula of the patient accordingto the preferred position of implantation.

Advantageously, at least a portion of the mapping data are acquired bypalpation of the scapula of the patient.

Also in conjunction with the invention, there is proposed a surgicalmethod for glenoid resurfacing of the scapula of a patient, in which:

a preferred position of application of a resurfacing tool is determinedin accordance with the determination method as defined above,

the scapula of the patient is identified in space, with a one-to-onelink with the spatial coordinate system defined in the determinationmethod, and

the glenoid surface of the scapula is honed by applying to the latterthe resurfacing tool according to the preferred position of application.

Advantageously, at least a portion of the mapping data are acquired bypalpation of the scapula of the patient.

While multiple embodiments are disclosed, still other embodiments of thepresent invention will become apparent to those skilled in the art fromthe following detailed description, which shows and describesillustrative embodiments of the invention. Accordingly, the drawings anddetailed description are to be regarded as illustrative in nature andnot restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exploded, perspective schematic view of the shoulder of apatient, associated with prosthetic components of a shoulder prosthesis,according to some embodiments.

FIG. 2 is a schematic cross section of an unprosthesized shoulder,according to some embodiments.

FIGS. 3 and 4 are views similar to FIG. 2, showing in elevation twodifferent implantation configurations of the shoulder prosthesis of FIG.1, according to some embodiments.

FIG. 5 is a schematic view of a system for implanting, in the patient,the glenoid component of the shoulder prosthesis, according to someembodiments.

As previously noted, the drawings are to be regarded as illustrative innature and not restrictive.

DETAILED DESCRIPTION

Various embodiments related to methodology and systems for modifying ashoulder joint configuration, including determining an implantationposition of a glenoid component on a scapula or a resurfacing processfor the glenoid, by taking account of the muscular environment of theshoulder.

FIGS. 1 and 2 show, partly, a shoulder of a patient, comprising ascapula S and a humerus H. The scapula S delimits, on its lateral sidefacing the humerus H, a glenoid surface G. In the natural state of theshoulder, the head T of the humerus H bears in an articulated manneragainst the glenoid surface G. In a manner not represented in thefigures, the articular cooperation between the scapula S and the humerusH is controlled by muscles extending between the scapula and thehumerus, in particular the deltoid muscle and the rotator cuff muscles.Hereinafter, the expression “muscular environment” is used to designatea musculature including the abovementioned muscles.

FIGS. 1, 3 and 4 schematically represent a shoulder prosthesiscomprising a glenoid component 1 and a humeral component 2. In thenonlimiting example considered here, the glenoid component 1 and humeralcomponent 2 have respective overall cup portion shapes, delimitingrespective articular faces 1A and 2A that are geometricallycomplementary to one another so that these components articulate withone another.

Some embodiments described herein relate to methods for determining animplantation configuration for the glenoid component 1 on the scapula S,by taking account of the muscular environment of the shoulder. In someembodiments, data relating to the anatomical geometry of the scapula Sis initially available or acquired preoperatively. The data is used todraw up a three-dimensional map of the glenoid surface G of thisscapula, after having defined a spatial coordinate system 10 of thescapula S. The spatial coordinate system 10 is, for example, establishedusing noteworthy natural identification points of the scapula S.

In some embodiments, the mapping data relating to the natural geometryof the glenoid surface G is extracted from preoperational images of thescapula S, for example from scanner images. FIG. 2 is a cross sectionalrepresentation of the shoulder that corresponds to such a preoperationalimage.

In some embodiments, the wear of the glenoid surface G is characterizedfrom the mapping data. Thus, as shown in FIGS. 1 and 2, the glenoidsurface G has, in its bottom portion and in all its anteroposteriordimension, a worn region G₁, seen in cross section in FIG. 2. Althoughthe worn region G₁ is shown in the bottom, it should be noted thatglenoid wears are often observed in the upper portion of the glenoidsurface.

In some embodiments, the worn region G₁ is characterized by itsgeometric characteristics as assessed relative to the remainder of theglenoid surface G. For example, the worn region G₁ is optionallycharacterized by the dimensions of its peripheral outline in the threedirections of the coordinate system 10, by its depth gradients in thecoordinate system 10, and by other additional or alternate features asappropriate. As described in greater detail, these geometriccharacteristics of wear are chosen so as to help identify the mechanicalcauses behind the wear of the glenoid surface G.

To determine the geometric characteristics of wear of the glenoidsurface G, a number of possibilities are contemplated. In someembodiments, determination of the geometric characteristics of wearincludes using means for comparing the previously-obtained mapping datarelating to the glenoid surface G to data relating to the anatomy of areference glenoid surface, the data comparison being supplied by apre-existing database—i.e., one that is generated prior to the surgicalreplacement procedure, or preoperatively. The means optionally includehardware, software, and computer implemented algorithms adapted forcomparing the previously-obtained mapping data relating to the glenoidsurface G to data relating to the anatomy of a reference glenoidsurface.

Some embodiments include, computer modeling of a theoretical glenoidsurface on the basis of the mapping data relating to a portion of theglenoid surface G that is considered to not be worn by using shaperecognition algorithms and pre-established genetic and morphometricdata. The remaining mapping data relating to the worn region G₁ is thencompared to the theoretical glenoid surface.

In some embodiments, the geometric characteristics of wear of theglenoid surface G are used in a subsequent step to estimate the forcesresponsible for the formation of the worn region G₁. In practice, theappearance and the trend of the worn region G₁ within the glenoidsurface G are the consequence of the regular and repetitive action of acertain configuration of the muscular environment of the shoulder of thepatient. In other words, because of a regular articular activity of thepatient (movements the patient repeats frequently in the context ofeveryday life), the muscular environment of the shoulder applies to thescapula S and to the humerus H repeated stresses which, in the longterm, lead to the appearance and the development of wear of the glenoidsurface G in the region G₁. This action of the muscular environment maybe represented by a resultant of forces, denoted F in FIG. 2, whosevector characteristics are determined from geometric characteristics ofwear of the glenoid surface G.

In some embodiments, to identify the vector characteristics of theresultant of forces F from the geometric characteristics of wear of theglenoid surface G, use is advantageously made of a pre-existing shouldermusculoskeletal model. The biomechanical model is optionally used tosimulate the articular movements of the shoulder by quantifying theforces in the articulation between the scapula and the humerus of theshoulder and in the muscular environment of the shoulder. The shouldermusculoskeletal model is optionally used to construct a weardatabase—where several glenoid wears are simulated within the model,each wear being simulated under the action of different correspondingpredetermined forces of articulation. Some embodiments include usingcomparison means, such as hardware, software, and computer-implementedalgorithms for comparing the geometric characteristics of wear of theglenoid surface G to the duly pre-established wear database generatedwith the biomechanical model to approximate the vector characteristicsof the resultant of forces F.

Finally, in some embodiments, means are provided in the form ofcomputer-implemented algorithms, hardware, and software to use thevector characteristics of the resultant of forces F to determine anoptimal position of implantation of the glenoid component 1 on thescapula S such that, in subsequent service, the glenoid component 1opposes the resultant of forces F. In other words, account is taken ofthe action of this resultant of forces F on the future articularcooperation between the glenoid component 1 and the humeral component 2,according to the relative implantation configuration of these componentswithin the shoulder of the patient. According to some embodiments, theshoulder musculoskeletal model is used again to simulate thearticulation between the scapula S and the humerus H subject to muscularforces corresponding to the resultant of forces F and then to calculate,in the coordinate system 10, the geometric characteristics of a positionof implantation of the glenoid component 1 so that the relative mobilitybetween the glenoid component 1 and the humeral component 2 is balancedunder the effect of the resultant of the forces F. In some embodiments,this balancing is advantageously determined so that, during movements ofthe prosthesized shoulder producing forces of resultant F, the articularcontact region between the scapula S and the humerus H is substantiallycentered relative to the peripheral outline of the glenoid component,and not offset toward a peripheral portion thereof as shown in FIG. 3.

Thus, the abovementioned geometric characteristics, relating to theposition of implantation of the glenoid component 1, help quantify thepositioning parameters with respect to the scapula S in the coordinatesystem 10, namely the height of the positioning parameters in the threedirections of the coordinate system and the inclination of thepositioning parameters in the three directions.

In some embodiments, the position of implantation of the glenoidcomponent 1 determined in this way is shown in FIG. 3, which illustratesbalancing between the glenoid component 1 and the humeral component 2while the scapula S and the humerus H of the shoulder of the patient tobe operated on are subjected to the effect of the resultant of forces F.Conversely, FIG. 4 illustrates another implantation configurationwhereby the glenoid component 1 is placed without taking account of theresultant of forces F. In the case where the resultant of the forces Fare not accounted for, unlike in FIG. 3, the position of the component 1does not satisfactorily balance the action of the resultant F with themobility of the prosthesized shoulder, such that, as soon as the patientresumes everyday activities, and each time the patient repeats theactions that led to the appearance of the worn region G₁ of the glenoidsurface G, the shoulder prosthesis is stressed according to anunbalanced configuration between its components 1 and 2. Thus, whereaccount is not taken of the effect of the resultant forces F, asignificant long term risk of instability of the prosthesis exists.

On completion of the described methodology, and according to someembodiments, a preferred position of implantation of the glenoidcomponent 1 on the scapula S is determined using hardware, software, andcomputer-implemented algorithms adapted to identify the preferredposition of implantation according to, or otherwise taking into account,the action of the resultant of forces F on the articulation between thescapula and the humerus H of the patient to be prosthesized. Aspreviously referenced, it should be emphasized that various steps of themethod are optionally implemented outside an actual surgicalintervention (i.e., preoperatively), without having to actually accessthe scapula S and the humerus H of the patient (e.g., via incisions inthe soft parts surrounding these structures).

In practice, the implementation of the method for approximating thevector characteristics of the resultant of forces F and appropriateimplantation position of the glenoid component 1 are assisted viacomputer means, for example including hardware, software, andcomputer-implemented algorithms adapted for carrying out thedetermination steps, relative positioning calculations, and simulationcalculations previously referenced.

In some embodiments, a surgeon uses the data relating to the preferredposition of implantation of the glenoid component 1 in association withimplantation of a surgical assembly 12 shown in FIG. 5. The assembly 12includes a computer 14 associated with a unit adapted for sending andreceiving infrared radiation, the unit including a sensor 16 linked tothe computer and an infrared power source 18 covering the operationalfield in which the scapula S of the patient is represented. To assistthe computer 14 with identifying the scapula S in space, the assembly 12includes a group of markers 20 which return, passively, the infraredradiation toward the sensor 16. The group of markers 20 forms athree-dimensional marking system assisting the sensor 16 with followingthe position of the scapula in space. The computer 14 is also associatedwith a video screen 22 capable of displaying useful information to thesurgeon, such as information relating to the identification of thescapula S and other data described below, preferably in graphicrepresentation form. The assembly 12 also comprises control means 24,for example in the form of a pedal that can be actuated by the foot ofthe surgeon.

In some embodiments, implantation of the glenoid component 1 in thepreferred position of implantation includes using the computer 14,including hardware, software, and computer-implemented algorithms,adapted to establish a one-to-one link between the space coordinatesusing the group of markers 20 and the coordinate system 10 used toimplement the method for determining the preferred position ofimplantation. For this, the surgeon uses, as an example, a feeler 26which is identified in space by the sensor 16. After incision of thesoft parts of the shoulder of the patient, the surgeon brings thisfeeler 26 to a set of landmarks, or noteworthy places, of the scapula Swhich are then used to define the coordinate system 10 where, byactuation of the control pedal 24, the surgeon acquires the position ofthe feeler 26 and stores the position with the computer 14. Then, fromthe positional data, the computer 14 calculates the mathematical linkbetween the coordinate system 10 (FIG. 1) and the spatial coordinates ofthe sensor 16, where the computer 14 includes hardware, software, andcomputer-implemented algorithms adapted for such purposes.

The surgeon then fits the glenoid component 1 on the scapula S accordingto the preferred position of implantation. In practice, thecorresponding movements of the surgeon are advantageously guided bynavigation means driven by the computer 14.

Optionally, after the surgeon has incised the soft parts of the shoulderof the patient, but before he begins to fit the glenoid component 1, thesurgeon can exploit his access to the scapula S to collect mapping datarelating to the glenoid surface G. The mapping data can complement orconstitute all the mapping data used to implement the method fordetermining the preferred position of implantation of the glenoidcomponent 1. As an example, the mapping data relating to the scapula Sis thus obtained peroperationally using the feeler 26 brought to theglenoid surface G. In other words, in some embodiments, thedetermination method is implemented peroperationally, as opposed toother embodiments in which the method of acquiring mapping data wasdescribed as being preoperational.

Various arrangements and variants of the determination method and of thedevice, and of the surgical implantation method and of the assembly usedto implement such methodology are contemplated. As examples:

the means of identifying the scapula S and/or the feeler 26 are notlimited to infrared reflecting markers—markers sensitive to ultrasoundor to electromagnetic fields, for example, can be additionally oralternatively used;

rather than the position of implantation of the humeral component 2 onthe humerus H being predetermined, the position of implantation of thehumeral component 2 can be adjusted concomitantly with the determinationof an implantation configuration for the glenoid component 1;

the methodology and system for modifying a shoulder joint configurationis optionally implemented to determine a preferred implantationconfiguration for a glenoid component articulated directly on thenatural head of the humerus H, without requiring the implantation of ahumeral component such as the component 2; and/or

the methodology and system for modifying a shoulder joint configurationis optionally implemented in the context of the glenoid resurfacing ofthe scapula S, with or without the subsequent fitting of a resurfacingimplant; in such cases, rather than determining a position ofimplantation of the glenoid component 1, as described above, theinvention is applied to determine a position of application of aresurfacing tool on the scapula, in order to hone its glenoid surface Gso that the latter can then be better articulated with the head of thehumerus H—that is to say, by taking account of the action of theresultant of forces F on this articulation, the considerations detailedhitherto regarding the determination of an implantation configurationfor the glenoid component 1 apply by modifying the methodology to thedetermination of a positioning configuration for the resurfacing tool onthe scapula.

Various additional or alternate modifications and additions can be madeto the exemplary embodiments discussed without departing from the scopeof the present invention. For example, while the embodiments describedabove refer to particular features, the scope of this invention alsoincludes embodiments having different combinations of features andembodiments that do not include all of the above described features.

The following is claimed:
 1. A method for determining a configuration inwhich a glenoid component of a shoulder prosthesis is to be implanted ona scapula of a patient, the method comprising: defining a spatialcoordinate system of the scapula; providing mapping data relating to aglenoid surface of the scapula, the mapping data being defined in thespatial coordinate system; determining geometric characteristics of wearof the glenoid surface from the mapping data; determining the vectorcharacteristics of a force resultant of forces responsible for wear ofthe glenoid surface from the geometric characteristics of wear; anddetermining a position of implantation of the glenoid component on thescapula from the vector characteristics of the force resultant by takinginto account action of the force resultant on the articular cooperationbetween the scapula as prosthesized with the glenoid component and thehumerus of the patient.
 2. The method of claim 1, wherein determiningthe geometric characteristics of wear includes comparing the mappingdata to data relating to a reference anatomy for a glenoid surfacesupplied by a pre-existing database.
 3. The method of claim 1, furthercomprising modeling a theoretical glenoid surface from a portion of themapping data, the portion of the mapping data selectively correspondingto a portion of the glenoid surface of the scapula, and whereindetermining the geometric characteristics of wear includes comparing aremaining portion of the mapping data to the theoretical glenoidsurface.
 4. The method of claim 1, wherein determining the vectorcharacteristics of the force resultant includes comparing the geometriccharacteristics of wear to wear data pre-established using apre-existing shoulder musculoskeletal model.
 5. The method of claim 4,wherein the pre-established wear data is obtained by simulating glenoidwear of the shoulder musculoskeletal model under the respective actionsof corresponding predetermined forces.
 6. The method of claim 1, whereindetermining the position of implantation of the glenoid component isimplemented so that the articular cooperation between the scapula asprosthesized with the glenoid component and the humerus are balancedunder the effect of a force conforming to the vector characteristics ofthe force resultant.
 7. The method of claim 6, wherein determining theposition of implantation of the glenoid component includes calculating,from a pre-existing shoulder musculoskeletal model, a simulation of thearticular cooperation between the scapula as prosthesized with theglenoid component and the humerus, subjected to a force conforming tothe vector characteristics of the force resultant.
 8. The method ofclaim 6, wherein determining the position of implantation of the glenoidcomponent includes calculating the geometric characteristics in thespatial coordinate system of the position of implantation of the glenoidcomponent so that when the shoulder of the patient is stressed with aforce conforming to the vector characteristics of the force resultant,an articular contact region between the scapula as prosthesized with theglenoid component and the humerus is substantially centered relative toa peripheral outline of the glenoid component.
 9. The method of claim 1,wherein at least a portion of the mapping data is acquired by palpationof the scapula.
 10. The method of claim 1, wherein at least a portion ofthe mapping data is extracted from preoperational images of the scapula.